CN112645067A - Stacking system and method - Google Patents

Stacking system and method Download PDF

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Publication number
CN112645067A
CN112645067A CN202011542981.4A CN202011542981A CN112645067A CN 112645067 A CN112645067 A CN 112645067A CN 202011542981 A CN202011542981 A CN 202011542981A CN 112645067 A CN112645067 A CN 112645067A
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China
Prior art keywords
materials
stacking
machine
data
pallet
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Pending
Application number
CN202011542981.4A
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Chinese (zh)
Inventor
岳超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Inspur Intelligent Technology Co Ltd
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Suzhou Inspur Intelligent Technology Co Ltd
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Publication date
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Priority to CN202011542981.4A priority Critical patent/CN112645067A/en
Publication of CN112645067A publication Critical patent/CN112645067A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0214—Articles of special size, shape or weigh
    • B65G2201/022—Flat

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention discloses a stacking system and a method, which are used for stacking materials, and the stacking system comprises: the stacking device comprises a control device, a feeding machine, a stacker crane and a feeding device, wherein the control device sends data of materials to be stacked to the feeding machine, the stacker crane and the feeding device; the feeding machine and the stacking machine receive the material data and adjust the position of the clamping jaw according to the material data; the material loading device receives the material data, corresponding materials are transported to a loading position according to the material data, the control device controls the material loading machine to grab the materials from the material trolley and transmits the grabbed materials to a material taking position of the stacking machine, and the control device controls the stacking machine to grab the materials and place the materials to a pallet at the stacking position. The automatic stacking device can realize automatic stacking of materials, and the materials are not easy to fall off in the stacking process.

Description

Stacking system and method
Technical Field
The invention relates to the technical field of robot stacking, in particular to an automatic stacking system and method.
Background
In the prior art, the stacking technology of partial industrial robots is relatively lagged behind, most of the industrial robots are still in a personnel intensive operation stage, for example, in the server industry, in the process of stacking PCBs, the process of loading PCBs and unloading PCBs needs manual intervention for many times, the efficiency is low, in order to solve the problems, partial enterprises use a semi-automatic stacker crane, however, due to the fact that the sizes of PCBs are large, materials are prone to falling in the stacking process, and quality risks exist.
Disclosure of Invention
In order to solve the above problems, it is necessary to provide a stacking system and a stacking method, which can automatically stack materials and prevent the materials from falling off during the stacking process.
A first aspect of the present invention provides a palletising system for palletising material, the palletising system comprising: the stacking machine comprises a control device, a feeding machine, a stacking machine, a feeding device, a first conveying line and a second conveying line, wherein the control device sends data of materials to be stacked to the feeding machine, the stacking machine and the feeding device, and the material data comprises the shape, the size, the weight and the preset clamping point position of the materials; the feeding machine and the stacking machine receive the material data and adjust the position of the clamping jaw according to the material data; the material loading device receives the material data, corresponding materials are conveyed to a material loading position according to the material data, the control device controls the material loading machine to grab the materials from the material trolley and place the grabbed materials to the first conveying line, the materials are conveyed to the material taking position of the stacker crane through the first conveying line, the control device controls the stacker crane to grab the materials and place the materials to the pallet of the stacking position of the second conveying line, after the material is placed, the stacker crane returns to the material taking position, and the operation of grabbing the materials and placing the materials to the pallet of the stacking position is repeated.
Optionally, the pile up neatly system is still including setting up in the yard device of sweeping of first transfer chain, controlling means still with material data send to sweep yard device, work as the material is put to when the first transfer chain, sweep yard device and acquire to predetermine in the coding information of material, coding information is including prestoring material data, work as prestoring material data with follow the material data that controlling means sent are unanimous, then first transfer chain will the material transmits extremely the material level of getting of hacking machine.
Optionally, when the pre-stored material data is inconsistent with the material data sent from the control device, an alarm is sent out through an alarm device.
Optionally, the stacking system further comprises a transplanter, a third conveyor line and a blanking AGV, and when the materials placed at the stacking position reach a preset condition, the transplanter transports the pallet to the third conveyor line; the third transfer chain warp controlling means control unloading AGV will the pallet transports to preset the position.
Optionally, the stacking system further comprises a pallet AGV and a pallet machine, the control device controls the pallet AGV to convey an empty pallet to the pallet machine, and the pallet machine passes through the transplanter to convey the empty pallet to the stacking position of the second conveying line.
Optionally, the data of the materials include data of materials of various models, the data of the materials of each model further include stacking time, and the feeding machine and the stacker crane dynamically adjust the positions of the clamping jaws corresponding to the models according to the stacking time.
Optionally, the second conveyor line comprises a plurality of stacking positions, and the size of each stacking position is consistent with that of one type of material.
Optionally, the material data further includes a preset safety distance, and the feeding machine and the stacker crane set a motion trajectory from the material grabbing to the material putting down by a mechanical arm according to the preset safety distance.
A second aspect of the present invention provides a material stacking method, including:
adjusting the positions of a feeding machine and a stacker crane clamping jaw according to data of materials to be stacked, wherein the material data comprises the shape, size, weight and preset clamping point positions of the materials;
transporting the corresponding material to a loading position according to the material data;
when the material reaches the material loading position, controlling the material loading machine to grab the material, placing the grabbed material to a first conveying line, and conveying the material to a material taking position of the stacker crane through the first conveying line; and
and when the material reaches the material taking position, controlling the stacker crane to grab the material and placing the material to the pallet at the stacking position of the second conveying line.
Optionally, the data of the material further includes a preset safe distance, and the palletizing method further includes: and setting a motion track of the mechanical arms of the feeding machine and the stacking machine for grabbing the materials to putting down the materials according to the preset safe distance.
The stacking system provided by the embodiment of the invention can realize automatic stacking of materials, does not need human intervention in the stacking process, has high efficiency, can reduce the labor cost and improve the automation degree of a product line, and can adjust the positions of clamping jaws of the feeding machine and the stacking machine through material data, prevent the materials from falling and being damaged in the grabbing process and reduce the quality risk.
The embodiment of the invention provides a stacking system which can confirm material data again in the stacking process and prevent material grabbing errors in the stacking process.
The embodiment of the invention provides a stacking system, wherein the feeding machine and the stacking machine dynamically adjust the positions of clamping jaws corresponding to the models according to the stacking time, so that materials of different models can be stacked.
The embodiment of the invention provides a movement track of the stacking system for setting a mechanical arm to grab the material to put down the material according to the preset safe distance, so that the collision between the feeding machine and the stacking machine during movement is prevented.
Drawings
In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present specification, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a palletizing system according to a preferred embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art based on the embodiments of the present invention belong to the scope of protection of the embodiments of the present invention.
Referring to fig. 1, a stacking system 100 according to a preferred embodiment of the invention is shown. The palletizing system 100 is used for palletizing materials, and in the embodiment, the palletizing system 100 is used for palletizing the PCBs of the packaged or boxed servers on a test production line of the PCBs.
The stacking system 100 includes a control device 10, a feeder 20, a stacker crane 30, a feeding device 40, a first conveying line 50, and a second conveying line 60.
The control device 10 sends material data to be stacked, including the shape, size, weight and preset pinch point position of the material, to the feeder 20, the stacker 30 and the feeder 40. The feeder 20 and the stacker 30 receive the material data and adjust the position of the gripping jaws according to the material data. The loading device 40 receives the material data, corresponding materials are transported to a loading position according to the material data, the control device 10 controls the loading machine 20 to grab the materials from the loading device 40 and place the grabbed materials to the first conveying line 50, the materials are transmitted to material taking positions, such as material taking positions 4, 5 and 6, of the stacker crane 30 through the first conveying line 50, the control device 10 controls the stacker crane 30 to grab the materials and place the materials to a pallet of the stacking position of the second conveying line 60, after the material is placed, the stacker crane 30 returns to the material taking positions, and the operation of grabbing the materials and placing the materials to the pallet of the stacking position is repeated.
Specifically, the shape of material is square or cuboid, the size of material includes length, width and height. The preset pinch point positions can be set according to the shape, size and weight of the material, so that the feeding machine 20 and the stacker crane 30 are not easy to fall off when grabbing the material.
In this embodiment, the control device 10 includes a Manufacturing Execution System (MES) 11 and an industrial personal computer 12, the MES 11 is connected to the feeder 20, the palletizer 30, and the feeding device 40 through the industrial personal computer 12, and the MES 11 controls the feeder 20, the palletizer 30, and the feeding device 40 through the industrial personal computer 12. In the embodiment, the industrial personal computer performs Wireless communication with the feeder 20, the stacker crane 30, and the feeding device 40 through an AP (Wireless Access Point) 13.
In the present embodiment, the loader 20 is a SCARA (Selective Compliance Assembly Robot) loader Robot. The stacker 30 is a six-axis palletizing robot.
Specifically, the loading device 40 includes an Automated Guided Vehicle (AGV) 41 and a material cart 42. The material car 42 is used to load material, and the loading AGV 41 transports the material car 42 to an upper level under the control of the control device 10.
The first conveying line 50 includes a sorting conveying line 51 and a feeding roller line 52, and the feeding machine 20 picks the material from the material cart 42, puts the material to the sorting conveying line 51, and conveys the material to a material taking position, for example, a material taking position 3, via the sorting conveying line 51 and the feeding roller line 52. The arrangement of the sorting conveyor line 51 and the feeding roller line 52 allows the feeder 20 to have a large operation space.
In another embodiment, the stacking system 100 further includes a code scanning device 70 disposed on the first conveying line 50, the control device 10 further sends the material data to the code scanning device 70, when the material is placed on the first conveying line 50, the code scanning device 70 scans the code information preset in the material to obtain the pre-stored material data in the code image, and when the pre-stored material data is consistent with the material data sent from the industrial personal computer 12, the first conveying line 50 transmits the material to the material taking position of the stacker 30. And when the pre-stored material data is inconsistent with the material data sent from the industrial personal computer 12, an alarm is sent out through an alarm device. The encoded information may be a two-dimensional code or a bar code.
It is understood that the stacking system 100 further comprises a blanking device 80, wherein the blanking device 80 comprises a transplanter 81, a third conveyor line 82 and a blanking AGV 83, and when the materials placed at the stack position of the second conveyor line 60 reach a preset condition, the transplanter 81 transports the pallet to the third conveyor line 82; the third conveyor line 82 notifies the blanking AGV 83 via the MES system 11 to transport the pallet to a preset location, e.g., the next work station. The preset condition may be that the pallet of the stack position of the second conveyor line 60 has been filled with the material, or that the material of the pallet placed to the stack position of the second conveyor line 60 has reached a preset amount.
It can be understood that the stacking system 100 further comprises a pallet transport device 90, the pallet transport device 90 comprises a pallet AGV 91 and a pallet 92, the EMS system 11 controls the pallet AGV 91 to transport an empty pallet to the pallet 92, and the pallet 92 passes through the transplanter 81 will send the empty pallet to the stacking position of the second transport line 60.
It can be understood that, for different types of PCBs, the data of the materials includes data of multiple types of materials, and the data of each type of material further includes stacking time, and the feeder 20 and the stacker 30 dynamically adjust the positions of the clamping jaws corresponding to the types according to the stacking time. In this embodiment, the data of the material may be obtained according to the scheduling planning model information. For example, time to palletize a, palletize material type a 1; the stacking system 100 comprises a stacking machine 20, a stacker crane 30, a clamping jaw, a feeding machine 1, a stacking machine 30, a stacker crane 30, a material stacking machine B1, a material stacking machine B1, a current time A, a position of the clamping jaw, which is suitable for grabbing the material of the type A1, is adjusted by the stacking machine 20, and a position of the clamping jaw, which is suitable for grabbing the material of the type B1, is adjusted by the stacker crane 30, so that the stacking system 100 can automatically stack materials of.
It will be appreciated that the second conveyor line 60 comprises a plurality of places, for example places 4, 5, 6, each of which corresponds in size to one of the sizes of the types of material.
It can be understood that the material data further includes a preset safe distance, and the feeding machine 20 and the stacker crane 30 set a motion trajectory of the mechanical arm to grab the material to put down the material according to the preset safe distance. Specifically, the preset safe distance can be determined according to the shape and size of the material and the parameters of the surrounding environment of the feeding machine 20 and the stacking machine 30, so that other objects are not easily collided in the whole process of grabbing the material by a mechanical arm and putting down the motion track of the material, and the occurrence of plate collision is avoided. The ambient parameters can be determined by acquiring images by means of an existing camera.
Based on the same inventive concept as the method, the embodiment of the invention also provides a stacking method, which comprises the following steps:
and step S1, adjusting the positions of the clamping jaws of the feeding machine 20 and the stacker crane 30 according to the data of the materials to be stacked, wherein the data of the materials comprise the shape, size, weight and preset clamping point positions of the materials.
And S2, transporting the materials filled with the corresponding materials to the upper material level according to the material data.
And step S3, when the material reaches the material loading position, controlling the feeding machine 20 to grab the material, placing the grabbed material to the first conveying line 50, and conveying the material to the material taking position of the stacker crane 30 through the first conveying line 50.
And step S4, when the material reaches the material taking position, controlling the stacker crane 30 to grab the material and placing the material to the pallet at the stack position of the second conveying line 60.
The data of the materials further comprise preset safe distances, and the stacking method further comprises the following steps:
step S5, when the materials are placed on the first conveying line 60, obtaining coding information preset on the materials, wherein the coding information comprises prestored material data, when the prestored material data is consistent with the data of the materials to be stacked, the first conveying line 60 transmits the materials to the material taking position of the stacker crane 30, and when the prestored material data is inconsistent with the data of the materials to be stacked, an alarm is given.
Step S6, when the material placed at the stack position reaches a preset condition, transporting the pallet to the third transporting line 82; the third conveyor line 82 transports the pallet to a preset position.
And step S7, feeding the empty pallet into the stacking position of the second conveying line 60.
And step S9, setting a motion track from the material loading machine 20 to the material stacking machine 30 to the material dropping according to the preset safety distance.
In an embodiment, step S1 specifically includes: the data of the materials comprise data of materials of various models, the data of the materials of each model further comprise stacking time, and the positions of clamping jaws of the feeding machine 20 and the stacking machine 30 are dynamically adjusted according to the stacking time to correspond to the models.
The embodiment of the invention provides the stacking system 100, which can realize automatic stacking of materials, does not need human intervention in the stacking process, has high efficiency, can reduce the labor cost and improve the automation degree of a product line, and can adjust the positions of clamping jaws of the feeding machine 20 and the stacking machine 30 through material data, prevent the materials from falling and being damaged in the grabbing process and reduce the quality risk.
The embodiment of the invention provides that the stacking system 100 can confirm the material data again in the stacking process, so as to prevent the material grabbing error in the stacking process.
The feeding machine 20 and the stacker crane 30 of the stacking system 100 provided by the embodiment of the invention dynamically adjust the positions of the clamping jaws corresponding to the models according to the stacking time, so as to stack materials of different models.
According to the embodiment of the invention, the stacking system 100 sets a motion track of a mechanical arm for grabbing the material to put down the material according to the preset safe distance, so that the feeding machine 20 and the stacker crane 30 are prevented from moving and colliding.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A palletizing system for palletizing materials, the palletizing system comprising: the device comprises a control device, a feeding machine, a stacking machine, a feeding device, a first conveying line and a second conveying line; the control device sends data of materials to be stacked to the feeding machine, the stacking machine and the feeding device, wherein the material data comprises the shape, size, weight and preset clamping point positions of the materials; the feeding machine and the stacking machine receive the material data and adjust the position of the clamping jaw according to the material data; the material loading device receives the material data, corresponding materials are conveyed to a material loading position according to the material data, the control device controls the material loading machine to grab the materials from the material trolley and place the grabbed materials to the first conveying line, the materials are conveyed to the material taking position of the stacker crane through the first conveying line, the control device controls the stacker crane to grab the materials and place the materials to the pallet of the stacking position of the second conveying line, after the material is placed, the stacker crane returns to the material taking position, and the operation of grabbing the materials and placing the materials to the pallet of the stacking position is repeated.
2. The palletizing system according to claim 1, wherein the palletizing system further comprises a code scanning device arranged on a first conveying line, the control device further sends the material data to the code scanning device, when the material is placed on the first conveying line, the code scanning device acquires code information preset on the material, the code information comprises pre-stored material data, and when the pre-stored material data is consistent with the material data sent from the control device, the first conveying line transmits the material to a material taking position of the palletizing machine.
3. The palletizing system according to claim 2, wherein when the pre-stored material data is inconsistent with the material data sent from the control device, an alarm is given by an alarm device.
4. The palletizing system according to claim 1, further comprising a transplanter, a third conveyor line, and an Automated Guided Vehicle (AGV), wherein the transplanter transports the pallet to the third conveyor line when the material placed at the palletizing position reaches a preset condition; the third transfer chain warp controlling means control unloading AGV will the pallet transports to preset the position.
5. The palletizing system according to claim 4, further comprising a pallet feeding AGV and a pallet machine, wherein the control device controls the pallet feeding AGV to feed an empty pallet to the pallet machine, and the pallet machine feeds the empty pallet to the palletizing position of the second conveying line through the transplanting machine.
6. The palletizing system according to claim 1, wherein the data of the materials comprises data of a plurality of models of materials, the data of each model of material further comprises a palletizing time, and the feeder and the palletizer dynamically adjust the position of the clamping jaw corresponding to the model according to the palletizing time.
7. The palletization system according to claim 6, wherein the second conveyor line comprises a plurality of palletization sites, each of which has a size corresponding to the size of one of the types of material.
8. The palletizing system according to claim 6, wherein the material data further comprises a preset safety distance, and the feeding machine and the palletizing machine set a motion track of a mechanical arm to grab the material to put down the material according to the preset safety distance.
9. A material stacking method, comprising:
adjusting the positions of a feeding machine and a stacker crane clamping jaw according to data of materials to be stacked, wherein the material data comprises the shape, size, weight and preset clamping point positions of the materials;
transporting the corresponding material to a loading position according to the material data;
when the material reaches the material loading position, controlling the material loading machine to grab the material, placing the grabbed material to a first conveying line, and conveying the material to a material taking position of the stacker crane through the first conveying line; and
and when the material reaches the material taking position, controlling the stacker crane to grab the material and placing the material to the pallet at the stacking position of the second conveying line.
10. The palletization method according to claim 9, wherein the data of the material further comprises a preset safety distance, the palletization method further comprising: and setting a motion track of the mechanical arms of the feeding machine and the stacking machine for grabbing the materials to putting down the materials according to the preset safe distance.
CN202011542981.4A 2020-12-24 2020-12-24 Stacking system and method Pending CN112645067A (en)

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Publication number Priority date Publication date Assignee Title
CN114130710A (en) * 2021-11-12 2022-03-04 厦门烟草工业有限责任公司 Cigarette box sorting system and sorting method
CN114455146A (en) * 2022-03-04 2022-05-10 芜湖哈特机器人产业技术研究院有限公司 Material subpackaging unmanned system and control method thereof

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CN205802475U (en) * 2016-06-22 2016-12-14 广东溢达纺织有限公司 Cheese automatic docking device
CN111014798A (en) * 2019-12-16 2020-04-17 天津工程机械研究院有限公司 Automatic plate shearing machine feeding, sorting and stacking production line and method based on machine vision
CN111571600A (en) * 2020-06-02 2020-08-25 珠海格力智能装备有限公司 Control method and device of palletizing robot and palletizing robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205802475U (en) * 2016-06-22 2016-12-14 广东溢达纺织有限公司 Cheese automatic docking device
CN111014798A (en) * 2019-12-16 2020-04-17 天津工程机械研究院有限公司 Automatic plate shearing machine feeding, sorting and stacking production line and method based on machine vision
CN111571600A (en) * 2020-06-02 2020-08-25 珠海格力智能装备有限公司 Control method and device of palletizing robot and palletizing robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114130710A (en) * 2021-11-12 2022-03-04 厦门烟草工业有限责任公司 Cigarette box sorting system and sorting method
CN114455146A (en) * 2022-03-04 2022-05-10 芜湖哈特机器人产业技术研究院有限公司 Material subpackaging unmanned system and control method thereof
CN114455146B (en) * 2022-03-04 2024-06-07 芜湖哈特机器人产业技术研究院有限公司 Material sub-packaging unmanned system and control method thereof

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